Directed Curvature Histograms for Robotic Grasping

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dc.contributor.authorSchulz, Rodrigoen_US
dc.contributor.authorGuerrero, Pabloen_US
dc.contributor.authorBustos, Benjaminen_US
dc.contributor.editorIoannis Pratikakis and Florent Dupont and Maks Ovsjanikoven_US
dc.date.accessioned2017-04-22T17:17:46Z
dc.date.available2017-04-22T17:17:46Z
dc.date.issued2017
dc.description.abstractThree-dimensional descriptors are a common tool nowadays, used in a wide range of tasks. Most of the descriptors that have been proposed in the literature focus on tasks such as object recognition and identification. This paper proposes a novel three-dimensional local descriptor, structured as a set of histograms of the curvature observed on the surface of the object in different directions. This descriptor is designed with a focus on the resolution of the robotic grasping problem, especially on the determination of the orientation required to grasp an object. We validate our proposal following a data-driven approach using grasping information and examples generated using the Gazebo simulator and a simulated PR2 robot. Experimental results show that the proposed descriptor is well suited for the grasping problem, exceeding the performance observed with recent descriptors.en_US
dc.description.sectionheadersPaper Session II
dc.description.seriesinformationEurographics Workshop on 3D Object Retrieval
dc.identifier.doi10.2312/3dor.20171060
dc.identifier.isbn978-3-03868-030-7
dc.identifier.issn1997-0471
dc.identifier.pages113-120
dc.identifier.urihttps://doi.org/10.2312/3dor.20171060
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/3dor20171060
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3.5 [Computer Graphics]
dc.subjectComputational Geometry and Object Modeling
dc.subjectCurve
dc.subjectsurface
dc.subjectsolid
dc.subjectand object representations
dc.subjectI.2.9 [Artificial Intelligence]
dc.subjectRobotics
dc.subjectManipulators
dc.subjectI.4.7 [Image Processing and Computer Vision]
dc.subjectFeature Measurement
dc.subjectSize and shapes
dc.titleDirected Curvature Histograms for Robotic Graspingen_US
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